H-ROS
2017.03.29 IT Robotics VEHICLE
・飛行精度向上のため IMUチップを追加 デュアルIMUに ・パワーモジュールポートに過電圧および過電流保護回路 ・ノイズ回避 MS5611パフォーマンス改善 ・PCA9685のPWMジェネレータをマイクロコントローラに置換 ・モータやサーボなどグループ別に周波数設定を可能に ・PPM/SBUSデコードを廃し DMAマイクロコントローラに置換 ・DMAを使用しPiのプロセッサコアを残し ・PPM/SBUSサンプリングを行う ・デュアル SPI controllers ・Piソリューションの2倍の帯域幅を持たせ高速でデータ転送を管理 ・ADC port ボード上のボタンでしか利用出来なかったがこれを ・DF13ポートに簡単にアクセスできるよう改善 ・Linux integration の改善 ・PWM、ADC、SBUSとPPMは ・任意のプログラミング言語から簡単にアクセスできるように ・Linuxのsysfsの中に統合
MPU9250 9DOF IMU LSM9DS1 9DOF IMU MS5611 Barometer U-blox M8N Glonass/GPS/Beidou STM32F103 RC I/O co-processor HAT EEPROM RGB LED
14 PWM servo outputs PPM/S.Bus input Triple redundant power supply Power module connector UART, I2C, ADC for extensions Size: 55x65mm Weight: 23g
pi@navio-rpi ~/ardupilot/APMrover2 $ make navio
Checking modules
// BUILDROOT=/tmp/APMrover2.build HAL_BOARD=HAL_BOARD_LINUX HAL_BOARD_SUBTYPE=HAL_BOARD_SUBTYPE_LINUX_NAVIO TOOLCHAIN=RPI EXTRAFLAGS=-DGIT_VERSION="f66d5f7a"
echo "Generating MAVLink headers..."
Generating MAVLink headers...
#goto mavlink module directory and run the most recent generator script
echo "Generating C code using mavgen.py located at" /home/pi/ardupilot/modules/mavlink/
Generating C code using mavgen.py located at /home/pi/ardupilot/modules/mavlink/
PYTHONPATH=/home/pi/ardupilot/modules/mavlink/ python /home/pi/ardupilot/modules/mavlink//pymavlink/tools/mavgen.py --lang=C --wire-protocol=1.0 --output=/tmp/APMrover2.build/libraries/GCS_MAVLink/include/mavlink/v1.0 /home/pi/ardupilot/modules/mavlink//message_definitions/v1.0/ardupilotmega.xml
Validating /home/pi/ardupilot/modules/mavlink//message_definitions/v1.0/ardupilotmega.xml
Parsing /home/pi/ardupilot/modules/mavlink//message_definitions/v1.0/ardupilotmega.xml
Note: message DATA64 is longer than 64 bytes long (74 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message DATA96 is longer than 64 bytes long (106 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message REMOTE_LOG_DATA_BLOCK is longer than 64 bytes long (214 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Validating /home/pi/ardupilot/modules/mavlink//message_definitions/v1.0/common.xml
Parsing /home/pi/ardupilot/modules/mavlink//message_definitions/v1.0/common.xml
Note: message GPS_STATUS is longer than 64 bytes long (109 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message ATTITUDE_QUATERNION_COV is longer than 64 bytes long (76 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message GLOBAL_POSITION_INT_COV is longer than 64 bytes long (193 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message LOCAL_POSITION_NED_COV is longer than 64 bytes long (237 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message HIGHRES_IMU is longer than 64 bytes long (70 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message HIL_SENSOR is longer than 64 bytes long (72 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message SIM_STATE is longer than 64 bytes long (92 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message FILE_TRANSFER_PROTOCOL is longer than 64 bytes long (262 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message HIL_STATE_QUATERNION is longer than 64 bytes long (72 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message LOG_DATA is longer than 64 bytes long (105 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message GPS_INJECT_DATA is longer than 64 bytes long (121 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message SERIAL_CONTROL is longer than 64 bytes long (87 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message ENCAPSULATED_DATA is longer than 64 bytes long (263 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message RESOURCE_REQUEST is longer than 64 bytes long (251 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message CONTROL_SYSTEM_STATE is longer than 64 bytes long (108 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message AUTOPILOT_VERSION is longer than 64 bytes long (68 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message V2_EXTENSION is longer than 64 bytes long (262 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Merged enum MAV_CMD
Found 176 MAVLink message types in 2 XML files
Generating C implementation in directory /tmp/APMrover2.build/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega
Generating C implementation in directory /tmp/APMrover2.build/libraries/GCS_MAVLink/include/mavlink/v1.0/common
Copying fixed headers %% Parameters.o %% control_modes.o %% events.o %% setup.o %% commands_logic.o %% sensors.o %% Rover.o %% failsafe.o %% commands_process.o %% GCS_Mavlink.o %% Log.o %% navigation.o %% system.o %% radio.o %% commands.o %% Steering.o %% capabilities.o %% test.o %% APMrover2.o %% compat.o %% libraries/AP_Common/AP_Common.o %% libraries/AP_Common/c++.o %% libraries/AP_Menu/AP_Menu.o %% libraries/AP_Param/AP_Param.o %% libraries/StorageManager/StorageManager.o %% libraries/AP_GPS/AP_GPS_SBF.o %% libraries/AP_GPS/AP_GPS_UBLOX.o %% libraries/AP_GPS/AP_GPS_ERB.o %% libraries/AP_GPS/AP_GPS_NMEA.o %% libraries/AP_GPS/GPS_Backend.o %% libraries/AP_GPS/AP_GPS_SIRF.o %% libraries/AP_GPS/AP_GPS_SBP.o %% libraries/AP_GPS/AP_GPS.o %% libraries/AP_GPS/AP_GPS_GSOF.o %% libraries/AP_GPS/AP_GPS_MTK19.o %% libraries/AP_GPS/AP_GPS_QURT.o %% libraries/AP_GPS/AP_GPS_MTK.o %% libraries/AP_GPS/AP_GPS_PX4.o %% libraries/AP_ADC/AP_ADC.o %% libraries/AP_ADC/AP_ADC_ADS1115.o %% libraries/AP_ADC/AP_ADC_ADS7844.o %% libraries/AP_Baro/AP_Baro.o %% libraries/AP_Baro/AP_Baro_qflight.o %% libraries/AP_Baro/AP_Baro_HIL.o %% libraries/AP_Baro/AP_Baro_PX4.o %% libraries/AP_Baro/AP_Baro_MS5611.o %% libraries/AP_Baro/AP_Baro_QURT.o %% libraries/AP_Baro/AP_Baro_Backend.o %% libraries/AP_Baro/AP_Baro_BMP085.o %% libraries/AP_Compass/AP_Compass_Calibration.o %% libraries/AP_Compass/Compass_learn.o %% libraries/AP_Compass/AP_Compass_HIL.o %% libraries/AP_Compass/AP_Compass_qflight.o %% libraries/AP_Compass/AP_Compass_HMC5843.o %% libraries/AP_Compass/AP_Compass_PX4.o %% libraries/AP_Compass/AP_Compass_QURT.o %% libraries/AP_Compass/AP_Compass_Backend.o %% libraries/AP_Compass/Compass.o %% libraries/AP_Compass/CompassCalibrator.o %% libraries/AP_Compass/AP_Compass_AK8963.o %% libraries/AP_Compass/AP_Compass_LSM303D.o %% libraries/AP_Math/quaternion.o %% libraries/AP_Math/vector2.o %% libraries/AP_Math/polygon.o %% libraries/AP_Math/matrix3.o %% libraries/AP_Math/matrix_alg.o %% libraries/AP_Math/edc.o %% libraries/AP_Math/AP_Math.o %% libraries/AP_Math/vector3.o %% libraries/AP_Math/location.o %% libraries/AP_InertialSensor/AP_InertialSensor_QURT.o %% libraries/AP_InertialSensor/AuxiliaryBus.o %% libraries/AP_InertialSensor/AP_InertialSensor_Backend.o %% libraries/AP_InertialSensor/AP_InertialSensor_HIL.o %% libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.o %% libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.o %% libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_Stream.o %% libraries/AP_InertialSensor/AP_InertialSensor_SITL.o %% libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.o %% libraries/AP_InertialSensor/AP_InertialSensor.o %% libraries/AP_InertialSensor/AP_InertialSensor_qflight.o %% libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.o %% libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_MAVLink.o %% libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.o %% libraries/AP_InertialSensor/AP_InertialSensor_PX4.o %% libraries/AP_AccelCal/AccelCalibrator.o %% libraries/AP_AccelCal/AP_AccelCal.o %% libraries/AP_AHRS/AP_AHRS_DCM.o %% libraries/AP_AHRS/AP_AHRS.o %% libraries/AP_AHRS/AP_AHRS_NavEKF.o %% libraries/AP_NavEKF/AP_NavEKF.o %% libraries/AP_NavEKF/AP_NavEKF_core.o %% libraries/AP_NavEKF2/AP_NavEKF2_Outputs.o %% libraries/AP_NavEKF2/AP_NavEKF2_Measurements.o %% libraries/AP_NavEKF2/AP_NavEKF2.o %% libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.o %% libraries/AP_NavEKF2/AP_NavEKF2_core.o %% libraries/AP_NavEKF2/AP_NavEKF_GyroBias.o %% libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.o %% libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.o %% libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.o %% libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.o %% libraries/AP_NavEKF2/AP_NavEKF2_Control.o %% libraries/AP_Mission/AP_Mission.o %% libraries/AP_Rally/AP_Rally.o %% libraries/AP_Terrain/TerrainIO.o %% libraries/AP_Terrain/TerrainMission.o %% libraries/AP_Terrain/TerrainGCS.o %% libraries/AP_Terrain/AP_Terrain.o %% libraries/AP_Terrain/TerrainUtil.o %% libraries/PID/PID.o %% libraries/RC_Channel/RC_Channel.o %% libraries/RC_Channel/RC_Channel_aux.o %% libraries/AP_RangeFinder/RangeFinder.o %% libraries/AP_RangeFinder/AP_RangeFinder_PX4_PWM.o %% libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.o %% libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.o %% libraries/AP_RangeFinder/AP_RangeFinder_analog.o %% libraries/AP_RangeFinder/RangeFinder_Backend.o %% libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.o %% libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.o %% libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.o %% libraries/AP_RangeFinder/AP_RangeFinder_PX4.o %% libraries/Filter/LowPassFilter.o %% libraries/Filter/LowPassFilter2p.o %% libraries/Filter/DerivativeFilter.o %% libraries/AP_Relay/AP_Relay.o %% libraries/AP_ServoRelayEvents/AP_ServoRelayEvents.o %% libraries/AP_Mount/AP_Mount_Backend.o %% libraries/AP_Mount/SoloGimbalEKF.o %% libraries/AP_Mount/AP_Mount_Alexmos.o %% libraries/AP_Mount/AP_Mount_SToRM32.o %% libraries/AP_Mount/AP_Mount.o %% libraries/AP_Mount/SoloGimbal.o %% libraries/AP_Mount/SoloGimbal_Parameters.o %% libraries/AP_Mount/AP_Mount_SoloGimbal.o %% libraries/AP_Mount/AP_Mount_Servo.o %% libraries/AP_Mount/AP_Mount_SToRM32_serial.o %% libraries/AP_Camera/AP_Camera.o %% libraries/GCS_MAVLink/GCS_Common.o %% libraries/GCS_MAVLink/GCS_serial_control.o %% libraries/GCS_MAVLink/GCS_MAVLink.o %% libraries/GCS_MAVLink/GCS_Logs.o %% libraries/GCS_MAVLink/MAVLink_routing.o %% libraries/AP_SerialManager/AP_SerialManager.o %% libraries/AP_Airspeed/AP_Airspeed_I2C.o %% libraries/AP_Airspeed/Airspeed_Calibration.o %% libraries/AP_Airspeed/AP_Airspeed_analog.o %% libraries/AP_Airspeed/AP_Airspeed.o %% libraries/AP_Airspeed/AP_Airspeed_PX4.o %% libraries/DataFlash/LogFile.o %% libraries/DataFlash/DataFlash_SITL.o %% libraries/DataFlash/DFMessageWriter.o %% libraries/DataFlash/DataFlash.o %% libraries/DataFlash/DataFlash_Block.o %% libraries/DataFlash/DataFlash_MAVLink.o %% libraries/DataFlash/DataFlash_Backend.o %% libraries/DataFlash/DataFlash_File.o %% libraries/AP_RCMapper/AP_RCMapper.o %% libraries/AP_Scheduler/AP_Scheduler.o %% libraries/APM_Control/AP_AutoTune.o %% libraries/APM_Control/AP_SteerController.o %% libraries/APM_Control/AP_YawController.o %% libraries/APM_Control/AP_RollController.o %% libraries/APM_Control/AP_PitchController.o %% libraries/AP_L1_Control/AP_L1_Control.o %% libraries/AP_BoardConfig/AP_BoardConfig.o %% libraries/AP_Frsky_Telem/AP_Frsky_Telem.o %% libraries/AP_Notify/Display_SSD1306_I2C.o %% libraries/AP_Notify/ToneAlarm_PX4.o %% libraries/AP_Notify/ExternalLED.o %% libraries/AP_Notify/ToshibaLED.o %% libraries/AP_Notify/NavioLED.o %% libraries/AP_Notify/OreoLED_PX4.o %% libraries/AP_Notify/ToneAlarm_Linux.o %% libraries/AP_Notify/Buzzer.o %% libraries/AP_Notify/Display.o %% libraries/AP_Notify/AP_BoardLED.o %% libraries/AP_Notify/DiscreteRGBLed.o %% libraries/AP_Notify/ToshibaLED_PX4.o %% libraries/AP_Notify/VRBoard_LED.o %% libraries/AP_Notify/AP_Notify.o %% libraries/AP_Notify/RGBLed.o %% libraries/AP_Notify/ToshibaLED_I2C.o %% libraries/AP_Notify/RCOutputRGBLed.o %% libraries/AP_Notify/NavioLED_I2C.o %% libraries/AP_BattMonitor/AP_BattMonitor_Backend.o %% libraries/AP_BattMonitor/AP_BattMonitor_Bebop.o %% libraries/AP_BattMonitor/AP_BattMonitor_SMBus_I2C.o %% libraries/AP_BattMonitor/AP_BattMonitor_Analog.o %% libraries/AP_BattMonitor/AP_BattMonitor.o %% libraries/AP_BattMonitor/AP_BattMonitor_SMBus_PX4.o %% libraries/AP_OpticalFlow/AP_OpticalFlow_HIL.o %% libraries/AP_OpticalFlow/AP_OpticalFlow_Linux.o %% libraries/AP_OpticalFlow/AP_OpticalFlow_PX4.o %% libraries/AP_OpticalFlow/OpticalFlow_backend.o %% libraries/AP_OpticalFlow/OpticalFlow.o %% libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.o %% libraries/AP_RSSI/AP_RSSI.o %% libraries/AP_Declination/AP_Declination.o %% libraries/AP_RPM/RPM_Backend.o %% libraries/AP_RPM/RPM_PX4_PWM.o %% libraries/AP_RPM/AP_RPM.o %% libraries/AP_RPM/RPM_SITL.o %% libraries/AP_Arming/AP_Arming.o %% libraries/AP_HAL/UARTDriver.o %% libraries/AP_HAL/HAL.o %% libraries/AP_HAL/Util.o %% libraries/AP_HAL_Empty/GPIO.o %% libraries/AP_HAL_Empty/Semaphores.o %% libraries/AP_HAL_Empty/UARTDriver.o %% libraries/AP_HAL_Empty/Storage.o %% libraries/AP_HAL_Empty/PrivateMember.o %% libraries/AP_HAL_Empty/I2CDriver.o %% libraries/AP_HAL_Empty/SPIDriver.o %% libraries/AP_HAL_Empty/RCOutput.o %% libraries/AP_HAL_Empty/Scheduler.o %% libraries/AP_HAL_Empty/AnalogIn.o %% libraries/AP_HAL_Empty/RCInput.o %% libraries/AP_HAL_Empty/HAL_Empty_Class.o %% libraries/AP_HAL_Linux/I2CDevice.o %% libraries/AP_HAL_Linux/SPIDevice.o %% libraries/AP_HAL_Linux/AnalogIn.o %% libraries/AP_HAL_Linux/GPIO.o %% libraries/AP_HAL_Linux/RCOutput_Bebop.o %% libraries/AP_HAL_Linux/CameraSensor_Mt9v117.o %% libraries/AP_HAL_Linux/RCOutput_Sysfs.o %% libraries/AP_HAL_Linux/CameraSensor.o %% libraries/AP_HAL_Linux/RCOutput_AioPRU.o %% libraries/AP_HAL_Linux/Storage.o %% libraries/AP_HAL_Linux/RCInput_PRU.o %% libraries/AP_HAL_Linux/RCOutput_PCA9685.o %% libraries/AP_HAL_Linux/I2CDriver.o %% libraries/AP_HAL_Linux/SPIUARTDriver.o %% libraries/AP_HAL_Linux/RCOutput_ZYNQ.o %% libraries/AP_HAL_Linux/Util_RPI.o %% libraries/AP_HAL_Linux/RCInput_RPI.o %% libraries/AP_HAL_Linux/OpticalFlow_Onboard.o %% libraries/AP_HAL_Linux/GPIO_RPI.o %% libraries/AP_HAL_Linux/Perf.o %% libraries/AP_HAL_Linux/RCOutput_Raspilot.o %% libraries/AP_HAL_Linux/GPIO_Bebop.o %% libraries/AP_HAL_Linux/Perf_Lttng.o %% libraries/AP_HAL_Linux/UDPDevice.o %% libraries/AP_HAL_Linux/RCInput_AioPRU.o %% libraries/AP_HAL_Linux/GPIO_Sysfs.o %% libraries/AP_HAL_Linux/AnalogIn_Navio2.o %% libraries/AP_HAL_Linux/Storage_FRAM.o %% libraries/AP_HAL_Linux/RCInput_ZYNQ.o %% libraries/AP_HAL_Linux/AnalogIn_Raspilot.o %% libraries/AP_HAL_Linux/RCInput_Navio2.o %% libraries/AP_HAL_Linux/RPIOUARTDriver.o %% libraries/AP_HAL_Linux/RCInput_Raspilot.o %% libraries/AP_HAL_Linux/AnalogIn_ADS1115.o %% libraries/AP_HAL_Linux/GPIO_Minnow.o %% libraries/AP_HAL_Linux/RCInput_UDP.o %% libraries/AP_HAL_Linux/HAL_Linux_Class.o %% libraries/AP_HAL_Linux/Semaphores.o %% libraries/AP_HAL_Linux/Thread.o %% libraries/AP_HAL_Linux/UARTQFlight.o %% libraries/AP_HAL_Linux/sbus.o %% libraries/AP_HAL_Linux/TCPServerDevice.o %% libraries/AP_HAL_Linux/UARTDriver.o %% libraries/AP_HAL_Linux/PWM_Sysfs.o %% libraries/AP_HAL_Linux/ConsoleDevice.o %% libraries/AP_HAL_Linux/VideoIn.o %% libraries/AP_HAL_Linux/CameraSensor_Mt9v117_Patches.o %% libraries/AP_HAL_Linux/SPIDriver.o %% libraries/AP_HAL_Linux/RCOutput_qflight.o %% libraries/AP_HAL_Linux/Scheduler.o %% libraries/AP_HAL_Linux/GPIO_BBB.o %% libraries/AP_HAL_Linux/system.o %% libraries/AP_HAL_Linux/UARTDevice.o %% libraries/AP_HAL_Linux/RCInput_UART.o %% libraries/AP_HAL_Linux/RCOutput_PRU.o %% libraries/AP_HAL_Linux/Flow_PX4.o %% libraries/AP_HAL_Linux/RCInput_DSM.o %% libraries/AP_HAL_Linux/AnalogIn_IIO.o %% libraries/AP_HAL_Linux/ToneAlarmDriver.o %% libraries/AP_HAL_Linux/Heat_Pwm.o %% libraries/AP_HAL_Linux/Util.o %% libraries/AP_HAL_Linux/RCInput.o %% libraries/AP_HAL/utility/Socket.o %% libraries/AP_HAL/utility/utoa_invert.o %% libraries/AP_HAL/utility/dsm.o %% libraries/AP_HAL/utility/Print.o %% libraries/AP_HAL/utility/print_vprintf.o %% libraries/AP_HAL/utility/RingBuffer.o %% libraries/AP_HAL/utility/getopt_cpp.o %% libraries/AP_HAL/utility/ftoa_engine.o Building /tmp/APMrover2.build/APMrover2.elf %% APMrover2.elf Firmware is in APMrover2.elf
1.4 用語解説
3.1.1.1 Currently supported boards 3.1.1.2 Attaching Navio2 to a Raspberry Pi 3.1.1.3 Powering Navio2 3.1.1.4 Powering servo rail 3.1.1.5 GNSS antenna 3.1.1.6 RC input 3.1.1.7 RC output 3.1.1.8 Telemetry modem 3.1.1.9 Typical quadcopter setup based on Navio2 3.1.1.10 Barometer UV protection
3.1.2.1 Quadcopter setup 3.1.2.2 Plane setup 3.1.2.3 Rover setup
3.1.3.1 Downloading configured Raspbian image 3.1.3.2 Writing image to SD card 3.1.3.3 Configuring Wi-Fi access
3.1.4.1 APM 3.1.4.2 Installing APM 3.1.4.3 Running APM 3.1.4.4 Autostarting APM on boot 3.1.4.5 Connecting to the GCS 3.1.4.6 Voltage and current sensing 3.1.4.7 Further configuration
3.1.5.1 Video Streaming with Navio 3.1.5.2 Hardware 3.1.5.3 Raspberry PI2 3.1.5.4 Ubuntu 3.1.5.5 Android 3.1.5.6 Mac OS X 3.1.5.7 Windows 3.1.5.8 Launching
3.1.6.1 Where to get the code 3.1.6.2 How to build 3.1.6.3 Cross-compiler setup on Linux (optional) 3.1.6.4 Building APM
3.2.1.1 MPU9250 3.2.1.2 IMU example 3.2.1.3 MPU9250 driver
3.2.2.1 Preparing your Mac 3.2.2.2 On PCMac 3.2.2.3 On Raspberry Pi
3.2.3.1 MS5611 example 3.2.3.2 MS5611 code
3.2.4.1 U-blox NEO example 3.2.4.2 U-blox NEO driver
3.2.5.1 U-blox NEO example 3.2.5.2 U-blox NEO driver 3.2.5.3 GPS via u-center
3.3.1.1 Windows IoT 3.3.1.2 Project 3.3.1.3 Getting Started 3.3.1.4 Development 3.3.1.5 Known Issues 3.3.1.6 Roadmap 3.3.1.7 Change Log
3.3.2.1 SoftOSD 3.3.2.2 Installation 3.3.2.3 Requirements 3.3.2.4 Instructions 3.3.2.5 Additional Comments 3.3.2.6 V4L2 devices (USB etc) 3.3.2.7 GSTREAMER
orig74/DroneSimLabDroneSimLab
SITL ArduCopterとSITL PX4をUnreal Engine 4と組み合わせたもの DroneSimLab環境を構築: wikiUE4PyServer : Unreal Engine Python Plugin
これは、PythonコードとUnreal Engine間の通信を可能にする専用のプラグインです。 特に、UnrealエンジンエディタからPython環境にビデオを取り込むことができます。 また、このプロジェクトを最終的に置き換える並列プロジェクトUE4PyhtonBridgeについても取り組んでいま す。 UE4PyhtonBridgeはスタンドアローンのゲームをサポートしており、DroneSimLabプロジェクトでも使用さ れています。
orig74/dronesimlab
git, tmux, docker , Nvidia cardsetupapt-get install tmux docker.io gitdocker と tmux に精通のこと 通常ユーザーとしてドッカーを使用可能にしておくこと
まずは、Easy startページを
docker version docker imagestmux and git
apt-get install tmux gitclone & build
git clone https://github.com/orig74/DroneSimLab.git cd DroneSimLabUnreal Engine 4エディタの有無には2つの選択肢があります: Unreal Engine 4エディタをインストールするには、GitHubアカウントがEpicのゲームアカウントに接続されている必要があります(手順)。 アカウント設定後
./build.pyUnreal Engine 4のインストールをスキップする場合は(後でいつでもインストールできます)。
./build.py --skip_ue4_editor構築には時間がかかります ・・・ デモ実行
cd demos/px4_gazebo ./runtmux_game_docker.sh最初の実行もSITLスクリプトで環境を構築するので時間がかかります ctrl-b dを押してtmux環境を終了しデモを終了する
./kill_demo.sh
Unreal Engineをコンパイルするには、Unrealエンジンへのgitアクセスが必要です。 アカウントを開設してください。 ビルドスクリプトはunrealエンジンのgitリポジトリにアクセスしようとします Unrealドッカーのイメージを正常に作成したら、イメージを実行する必要があります: ファイルdockers / unreal_engine_4 / run_image.shのPROJECT_FILES_DIRを更新します。 これは、あなたが未来のエンジンプロジェクトがあるパスです (このパスがまだ存在しない場合は作成してください)。./run_image.sh(非表示のdocker imageは、終了後にコンテナを保持する唯一のimageです)。
関連するドッカー画像を構築する必要があります。 Easy startページ参照のことHow to run
The simulation windowThe drone inner tmuxRunning custom ROS codeSetting a new catkin_wsSetting environment
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